Name
Title | ||
|---|---|---|
Observer-based output feedback robust MPC via zonotopic set-membership state estimation for LPV systems with bounded disturbances and noises |
Abstract | ||
|---|---|---|
For linear parameter varying (LPV) systems with bounded disturbances and noises, this paper presents a synthesis approach to observer-based output feedback robust model predictive control (RMPC) via the zonotopic set-membership state estimation. In the off-line optimization problem, the state observer sub-gains with a minimal ellipsoidal robust positively invariant (RPI) set for the zonotopic estimation error set are designed. In the on-line control optimization problem, bounds of the current and future zontopic estimation error sets are outer approximated by scaling the minimal ellipsoidal RPI set. Then, an on-line constrained optimization problem that considers bounds of the predicted zonotopic estimation error sets is solved to guarantee robust stability of the closed-loop observer system. In the on-line receding horizon optimization, the zonotopic estimation error set is refreshed based on zonotopic properties, and its outer approximated ellipsoidal set is optimized via the technique of S-procedure. By properly considering the relationship between the zonotopic estimation error set and its outer approximated ellipsoidal set, recursive feasibility of the optimization problem can be ensured. The on-line optimization problem guarantees that the nominal estimation error system and nominal closed-loop observer system converge to the origin. When bounded disturbances and noises are considered, the estimation error system and closed-loop observer system respectively bounded within time-varying RPI sets and robust control invariant (RCI) sets are steered to a neighborhood of the origin such that robust stability of the controlled system is guaranteed. A simulation example is given to illustrate the proposed method. |
Year | DOI | Venue |
|---|---|---|
2020 | 10.1016/j.jfranklin.2020.05.014 | Journal of the Franklin Institute |
DocType | Volume | Issue |
Journal | 357 | 11 |
ISSN | Citations | PageRank |
0016-0032 | 1 | 0.34 |
References | Authors | |
0 | 5 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Xubin Ping | 1 | 12 | 2.17 |
| Sen Yang | 2 | 7 | 1.59 |
| Baocang Ding | 3 | 533 | 39.13 |
| Tarek Raïssi | 4 | 330 | 34.58 |
| Zhi Wu Li | 5 | 470 | 38.43 |